CN107866824A - Robot electronic skin - Google Patents
Robot electronic skin Download PDFInfo
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- CN107866824A CN107866824A CN201711166759.7A CN201711166759A CN107866824A CN 107866824 A CN107866824 A CN 107866824A CN 201711166759 A CN201711166759 A CN 201711166759A CN 107866824 A CN107866824 A CN 107866824A
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- conductive silver
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- electronic skin
- silver paste
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- 239000010410 layer Substances 0.000 claims abstract description 265
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims abstract description 150
- 229910052709 silver Inorganic materials 0.000 claims abstract description 71
- 239000004332 silver Substances 0.000 claims abstract description 71
- 239000012790 adhesive layer Substances 0.000 claims abstract description 59
- 239000002131 composite material Substances 0.000 claims abstract description 54
- 230000008093 supporting effect Effects 0.000 claims description 33
- 239000003292 glue Substances 0.000 claims description 18
- 238000009413 insulation Methods 0.000 claims description 2
- 230000035945 sensitivity Effects 0.000 abstract description 36
- 238000001514 detection method Methods 0.000 description 20
- 239000000463 material Substances 0.000 description 11
- 239000010408 film Substances 0.000 description 6
- 230000001965 increasing effect Effects 0.000 description 6
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- 230000001976 improved effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000615 nonconductor Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/36—Layered products comprising a layer of synthetic resin comprising polyesters
- B32B27/365—Layered products comprising a layer of synthetic resin comprising polyesters comprising polycarbonates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/028—Piezoresistive or piezoelectric sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/06—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material
- B32B27/08—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material of synthetic resin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/30—Layered products comprising a layer of synthetic resin comprising vinyl (co)polymers; comprising acrylic (co)polymers
- B32B27/304—Layered products comprising a layer of synthetic resin comprising vinyl (co)polymers; comprising acrylic (co)polymers comprising vinyl halide (co)polymers, e.g. PVC, PVDC, PVF, PVDF
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/32—Layered products comprising a layer of synthetic resin comprising polyolefins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/36—Layered products comprising a layer of synthetic resin comprising polyesters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B7/00—Layered products characterised by the relation between layers; Layered products characterised by the relative orientation of features between layers, or by the relative values of a measurable parameter between layers, i.e. products comprising layers having different physical, chemical or physicochemical properties; Layered products characterised by the interconnection of layers
- B32B7/04—Interconnection of layers
- B32B7/05—Interconnection of layers the layers not being connected over the whole surface, e.g. discontinuous connection or patterned connection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B7/00—Layered products characterised by the relation between layers; Layered products characterised by the relative orientation of features between layers, or by the relative values of a measurable parameter between layers, i.e. products comprising layers having different physical, chemical or physicochemical properties; Layered products characterised by the interconnection of layers
- B32B7/04—Interconnection of layers
- B32B7/12—Interconnection of layers using interposed adhesives or interposed materials with bonding properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2250/00—Layers arrangement
- B32B2250/03—3 layers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2250/00—Layers arrangement
- B32B2250/24—All layers being polymeric
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B32B2255/00—Coating on the layer surface
- B32B2255/10—Coating on the layer surface on synthetic resin layer or on natural or synthetic rubber layer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2255/00—Coating on the layer surface
- B32B2255/20—Inorganic coating
- B32B2255/205—Metallic coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2307/00—Properties of the layers or laminate
- B32B2307/70—Other properties
- B32B2307/732—Dimensional properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2457/00—Electrical equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Laminated Bodies (AREA)
Abstract
The invention belongs to the technical field of robots, and provides a robot electronic skin which comprises a first composite layer structure and a second composite layer structure, wherein the first composite layer structure and the second composite layer structure are arranged on a robot shell from inside to outside; and a plurality of first insulating protrusions for separating the first conductive silver adhesive layer from the second conductive silver adhesive layer are arranged between the first composite layer structure and the second composite layer structure. The robot electronic skin provided by the invention has the advantages of high sensitivity, low false alarm rate and low cost.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot electronic skin.
Background
The robot is a machine which realizes various functions by means of self power and control capability, and generally comprises an actuating mechanism, a driving device, a detection device, a control system, a complex machine and the like. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. Conventionally, a robot composed of a machine gives a feeling of being relatively cold and sharp to a person, and is also apt to injure the person. Some scientific institutions have therefore thought to provide robots with a softer skin. 10.2015, Disney Research shows a robot skin that is soft and does not cause any damage when grabbing fragile objects. However, such skin is mostly considered to be safe for protecting an object or a human body directly contacting with a robot, and has poor sensing sensitivity.
In the actual use process of the robot, sometimes it is necessary to detect whether the robot is touched and then react to the touch event. For example, if the arm of the robot touches an obstacle during swinging, the robot cannot sense the collision and continues to move, there is a possibility of damage. In the prior art, two common touch detection methods are adopted, namely detection based on a capacitive thin film structure and detection based on a force sensitive material. The former detection can generate signals under the condition of conductor touch or human body touch to realize detection, but the non-conductor cannot be detected. The latter judges whether an object touches by detecting the change of resistance through the deformation of the sensor. However, the sensitivity of the force-sensitive material is relatively low, and if the pressure is low, the sensor will not deform, so that the touch cannot be sensed, i.e. the generation of the touch signal needs to be based on a certain force. In addition, the cost of detection based on force sensitive materials is high.
Disclosure of Invention
The invention aims to provide a robot electronic skin, aiming at solving the problems that the existing robot touch detection mode is limited by the material type of a touch object, or the detection sensitivity is low and the cost is high.
The invention is realized in such a way that the robot electronic skin comprises a first composite layer structure and a second composite layer structure which are sequentially arranged on a robot shell from inside to outside, wherein the first composite layer structure comprises a back adhesive layer, a first supporting layer and a first conductive silver adhesive layer which are sequentially arranged on the robot shell in a stacking way, and the second composite layer structure comprises a second conductive silver adhesive layer and a second supporting layer which are sequentially arranged in a stacking way towards the direction of the first composite layer structure;
and a plurality of first insulating protrusions used for separating the first conductive silver adhesive layer from the second conductive silver adhesive layer are arranged between the first conductive silver adhesive layer and the second conductive silver adhesive layer.
As another case, a second insulating protrusion is provided on a surface of the second support layer facing away from the second conductive silver paste layer.
As another case, the second composite layer structure further includes a third conductive silver paste layer disposed on the second support layer and opposite to the second conductive silver paste layer;
the robot electronic skin further comprises a third composite layer structure, the third composite layer structure is arranged on one side, away from the first composite layer structure, of the second composite layer structure, and the third composite layer structure comprises a fourth conductive silver glue layer and a third supporting layer which are sequentially stacked in the direction towards the third conductive silver glue layer;
and a plurality of second insulating protrusions used for separating the third conductive silver adhesive layer from the fourth conductive silver adhesive layer are arranged between the third conductive silver adhesive layer and the fourth conductive silver adhesive layer.
Preferably, the height of the first insulating protrusion is ≧ 10 μm.
Further preferably, the height of the first insulating protrusion is 10 μm to 16 μm.
Preferably, the distance between adjacent first insulating protrusions is 4mm-15 mm.
Preferably, the height of the second insulating protrusion is 10 μm or more.
Further preferably, the distance between adjacent second insulating protrusions is 4mm to 15 mm.
Preferably, the first support layer is one of a PET layer, a PC layer, a PVC layer, and a PP layer.
Preferably, the second support layer is one of a PET layer, a PC layer, a PVC layer, and a PP layer.
Preferably, the third support layer is one of a PET layer, a PC layer, a PVC layer, and a PP layer.
Preferably, the thickness of the first conductive silver paste layer is 0.08mm to 0.12 mm.
Preferably, the thickness of the second conductive silver paste layer is 0.08mm to 0.12 mm.
Preferably, the thickness of the third conductive silver paste layer is 0.08mm to 0.12 mm.
Preferably, the thickness of the fourth conductive silver glue layer is 0.08mm-0.12 mm.
Preferably, the thickness of the first support layer is 0.08mm to 0.12 mm.
Preferably, the thickness of the second support layer is 0.08mm to 0.12 mm.
Preferably, the thickness of the third support layer is 0.08mm to 0.12 mm.
The robot electronic skin provided by the invention comprises a first composite layer structure and a second composite layer structure, wherein a second supporting layer of the second composite layer structure can be touched externally, a first conductive silver adhesive layer and a second conductive silver adhesive layer which are originally separated through a first insulating protrusion are contacted after being pressed and deformed, and a singlechip connected with the first conductive silver adhesive layer detects a low level, so that a touch event is detected. The robot electronic skin provided by the invention has higher sensitivity, and more importantly, the height and the density of the first insulating protrusions can be adjusted according to the actual situation, so that the sensitivity is ensured, and the false alarm rate is reduced. In addition, the robot electronic skin provided by the invention has various applicable occasions and lower cost, and the cost can be as low as 1-10% of the cost of a touch detection mode based on a force sensitive material.
Drawings
Fig. 1 is a schematic view of a first robot electronic skin structure provided in an embodiment of the present invention;
FIG. 2 is a schematic view of a second robot electronic skin structure provided in the embodiment of the present invention;
fig. 3 is a schematic view of an electronic skin structure of a third robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more unless specifically defined otherwise.
As shown in fig. 1, an embodiment of the present invention provides a robot electronic skin, including a first composite layer structure 1 and a second composite layer structure 2 sequentially disposed on a robot housing from inside to outside, where the first composite layer structure 1 includes a back adhesive layer 11, a first supporting layer 12, and a first conductive silver adhesive layer 13 sequentially disposed on the robot housing, and the second composite layer structure 2 includes a second conductive silver adhesive layer 21 and a second supporting layer 22 sequentially disposed toward the first composite layer structure 1;
and a plurality of first insulating protrusions 3 for separating the first conductive silver paste layer 13 from the second conductive silver paste layer 21 are disposed between the first conductive silver paste layer 13 and the second conductive silver paste layer 21.
In the robot electronic skin provided by the embodiment of the invention, the two conductive silver adhesive layers respectively lead out a conductive terminal (hereinafter collectively referred to as an A terminal and a B terminal), the A terminal is grounded, the B terminal is connected to a pull-up power supply and a GPIO pin of a singlechip, and the singlechip detects the high and low level state of the GPIO. According to the robot electronic skin provided by the embodiment of the invention, when the robot electronic skin is not touched, the electronic skin is not stressed, the first insulating protrusion 3 isolates the two conductive silver adhesive layers, and the singlechip detects that GPIO is at a high level; when the electronic skin touches, the second supporting layer 22 of the second composite layer structure 2 receives external touch, the first conductive silver adhesive layer 13 and the second conductive silver adhesive layer 21 which are originally separated by the first insulating protrusions 3 contact after being deformed by compression, and the single chip microcomputer connected with the first conductive silver adhesive layer detects a low level, so that a touch event is detected.
The robot electronic skin provided by the embodiment of the invention has higher sensitivity, and more importantly, the height and the density of the first insulating protrusions 3 can be adjusted according to the actual situation, so that the sensitivity is ensured, and the false alarm rate is reduced. In addition, the robot electronic skin provided by the invention has various applicable occasions and lower cost, and the cost can be as low as 1-10% of the cost of a touch detection mode based on a force sensitive material.
Specifically, in the present embodiment, the first composite layer structure 1 includes a back adhesive layer 11, a first supporting layer 12, and a first conductive silver adhesive layer 13, which are sequentially stacked on the robot housing. Wherein,
the gum layer 11 is bonded on the robot shell, such as the surface of an arm and the like, so that the electronic skin is attached to the robot shell.
A first support layer 12, acting as an adhesion layer, is provided on the backing adhesive layer 11 for carrying the conductive silver adhesive layer provided thereon. Preferably, the first support layer 12 is one of a PET layer, a PC layer, a PVC layer, and a PP layer, and the preferred support layer material is favorable for being pressed into a film and attached to the back adhesive layer 11. More preferably, the first support layer 12 is a PET layer that is easily processed into a film structure, has a long service life, and has good toughness. Further preferably, the thickness of the first supporting layer 12 is 0.08mm-0.12mm, so that the first supporting layer 12 can effectively bear other functional structures attached to the surface of the first supporting layer, such as a conductive silver glue layer, an insulating protrusion and the like, and the phenomenon that the first supporting layer 12 is too thick and is prone to tilting after being laid on the back glue layer 11 to affect the product quality is avoided. Particularly preferably, the thickness of the first support layer 12 is 0.1 mm.
First electrically conductive silver glue film 13 is in as the response layer through first supporting layer 12, the laminating setting of gum layer 11 on the robot shell. The thickness of the first conductive silver paste layer 13 may be set to be conductive with the second conductive silver paste layer 21. Preferably, the thickness of the first conductive silver glue layer 13 is 0.08mm-0.12mm, so as to facilitate the conductive effect and reduce the production cost. Particularly preferably, the thickness of the first conductive silver paste layer 13 is 0.1 mm.
In the above embodiment, the second composite layer structure 2 includes the second conductive silver paste layer 21 and the second support layer 22, which are sequentially stacked toward the first composite layer structure 1. Wherein,
the second conductive silver paste layer 21 is disposed opposite to the first conductive silver paste layer 13 and is separated by the first insulating protrusion 3 disposed between the first composite layer structure 1 and the second composite layer structure 2. The thickness of the second conductive silver paste layer 21 may be set to be conductive with the first conductive silver paste layer 13. Preferably, the thickness of the second conductive silver glue layer 21 is 0.08mm-0.12mm, so as to facilitate the conductive effect and reduce the production cost. Particularly preferably, the thickness of the second conductive silver paste layer 21 is 0.1 mm.
The second supporting layer 22 is used for receiving a touch signal, generating deformation and conducting the deformation to the second conductive silver adhesive layer 21, so that the second conductive silver adhesive layer 21 is pressed to be in contact with the first conductive silver adhesive layer 13 for conduction, and the single chip microcomputer detects the high and low level state of the GPIO to realize the detection of a touch event; meanwhile, the second support layer 22 is also used for supporting the second conductive silver paste layer 21 to maintain a complete layered structure. Specifically, the material of the second supporting layer 22 is selected to be able to bear the second conductive silver paste layer 21 to a certain extent, and the second supporting layer 22 has high sensitivity to touch and can transmit the touch reaction by generating deformation. Preferably, the second support layer 22 is one of a PET layer, a PC layer, a PVC layer and a PP layer, and the preferred support layer material is not only favorable for being pressed into a film, but also favorable for sensing a touch event and triggering a touch reaction. More preferably, the second support layer 22 is a PET layer that is easily processed into a film structure, has a long service life, and has good toughness, thereby improving the sensing sensitivity. Further preferably, the thickness of the second supporting layer 22 is 0.08mm to 0.12mm, which can avoid the increase of the response sensitivity and the increase of the false determination rate caused by the excessively thin thickness of the second supporting layer 22, and can also avoid the decrease of the sensitivity of the touch sensing caused by the excessively thick thickness of the second supporting layer 22. Particularly preferably, the thickness of the second support layer 22 is 0.1 mm.
In the above embodiment, a plurality of first insulating protrusions 3 for separating the first conductive silver paste layer 13 and the second conductive silver paste layer 21 are disposed between the first composite layer structure 1 and the second composite layer structure 2, and at the same time, the first insulating protrusions 3 support the second conductive silver paste layer 21. When no touch occurs, the first conductive silver paste layer 13 and the second conductive silver paste layer 21 are separated by the first insulation protrusion 3, and are maintained at a certain distance from each other; when a touch occurs, the second conductive silver adhesive layer 21 is deformed and then contacts with the first conductive silver adhesive layer 13 in the region outside the first insulating protrusion 3, and at the moment, the single chip microcomputer detects that the GPIO is at a low level (indicating that the electronic skin is touched), so that the detection of a touch reaction is realized.
In the embodiment of the present invention, one end of the first insulating protrusion 3 is fixedly connected below the second conductive silver paste layer 21, and the other end abuts against the first conductive silver paste layer 13. Of course, in other embodiments, one end of the first insulating protrusion 3 may also be fixedly connected to the first conductive silver paste layer 13, and the other end abuts against the second conductive silver paste layer 21; alternatively, both ends of the first insulating protrusion 3 are fixedly connected between the second conductive silver paste layer 21 and the first conductive silver paste layer 13, respectively. Preferably, the first insulating protrusion 3 is a semicircular protrusion, and one end of the protrusion is disposed toward the second composite layer structure 2. In addition, preferably, the first insulating protrusion 3 may be provided in a hollow shape to allow the first conductive silver paste layer 13 and the second conductive silver paste layer 21 to be in contact with each other with a small external force, thereby improving the sensitivity of the e-skin.
In order to avoid direct contact between the second conductive silver paste layer 21 and the first conductive silver paste layer 13 and reduce the false positive rate, it is preferable that the height of the first insulating protrusion 3 is not less than 10 μm. It is further preferable that the height of the first insulating protrusion 3 is 10 μm to 16 μm, so as to ensure a proper distance between the second conductive silver paste layer 21 and the first conductive silver paste layer 13. Preferably, the height of the first insulating protrusion 3 can be adjusted according to actual needs, so as to avoid the height from being too small, and improve the misjudgment rate of the touch event; and the height is also prevented from being too high, so that the difficulty of detection contact between the second conductive silver adhesive layer 21 and the first conductive silver adhesive layer 13 is increased, and the detection sensitivity is reduced. Preferably, the sensitivity can be improved by increasing the density of the first insulating protrusions 3 according to the size of the robot electronic skin, and in order to balance the sensitivity and the false alarm rate, the distance between adjacent first insulating protrusions 3 is preferably 4mm to 15mm, and particularly 4mm, 7mm, 10mm, 12mm, and 15 mm. In general, the greater the density of the first insulating protrusions 3, the lower the sensitivity; the smaller the density of the first insulating protrusions 3, the higher the sensitivity. It is further preferable that the first insulating protrusions 3 are uniformly distributed (i.e., the pitches of the adjacent first insulating protrusions 3 are the same), so that there is a stable response to a touch event.
In the embodiment of the present invention, the first insulating protrusions 3 are preferably made of insulating ink, which enables efficient production of high-quality and high-precision first insulating protrusions 3 by printing.
On the basis of the above-described embodiment, as shown in fig. 2, as another implementation case, second insulating protrusions 5 are provided on the surface of the second support layer 22 facing away from the second conductive silver paste layer 21.
In this embodiment, the second insulating protrusion 5 is provided on the second support layer 22, and the second insulating protrusion 5 functions as a thimble. Specifically, when the second supporting layer 22 is stressed, the second supporting layer 22 and the first conductive silver glue layer 13 are in contact conduction by means of the second insulating protrusions 5, so that the detection sensitivity of the electronic skin of the robot is adjusted.
Preferably, the second insulating protrusion 5 is disposed to be offset from the first insulating protrusion 3, which is beneficial to improving the detection sensitivity. More preferably, the height of the second insulating protrusion 5 is 10 μm or more. Further preferably, the distance between adjacent second insulating protrusions 5 is 4mm to 15 mm.
As a further embodiment, as shown in fig. 3, the second composite layer structure 2 further includes a third conductive silver paste layer 23 disposed on the second support layer 22 and opposite to the second conductive silver paste layer 21;
the robot electronic skin further comprises a third composite layer structure 4, wherein the third composite layer structure 4 is arranged on one side, away from the first composite layer structure 1, of the second composite layer structure 2 and comprises a fourth conductive silver adhesive layer 41 and a third supporting layer 42 which are sequentially arranged towards the third conductive silver adhesive layer 23;
and a plurality of second insulating protrusions 5 for separating the third conductive silver paste layer 23 and the fourth conductive silver paste layer 41 are disposed between the third conductive silver paste layer 23 and the fourth conductive silver paste layer 41.
Generally, the more insulating protrusions, the worse the sensitivity, the lower the false alarm rate; conversely, the higher the sensitivity, the higher the false alarm rate. In view of this, in the embodiment, the dual conductive silver paste layer-insulating protrusion-conductive silver paste layer structure is formed by additionally providing the third conductive silver paste layer 23, the second insulating protrusion 5 and the third composite layer structure 4, so that the sensitivity and the false alarm rate can be effectively balanced, and the high sensitivity is ensured on the premise of ensuring the lower false alarm rate. Specifically, by providing the second insulating protrusion 5, the insulating protrusions are arranged in two layers, that is, the first insulating protrusion 3 and the second insulating protrusion 5, under the condition that the number of the insulating protrusions is relatively fixed, and at this time, the bumps between the second conductive silver adhesive layer 21 and the first conductive silver adhesive layer 13 only account for a part of the total bumps, so that higher sensitivity can be achieved on the premise of lower false alarm rate. Preferably, the first insulating protrusions 3 are uniformly distributed, and the second insulating protrusions 5 are uniformly distributed. It is further preferable to arrange the second insulating protrusions 5 to be staggered with the first insulating protrusions 3, which is more advantageous to balance the sensitivity and the false alarm rate. The density of the protrusions is adjusted through a double-layer structure, so that a balance point of sensitivity and false alarm rate is found.
Specifically, the second composite layer structure 2 further includes a third conductive silver paste layer 23 disposed on the second support layer 22 and opposite to the second conductive silver paste layer 21. Preferably, the thickness of the third conductive silver paste layer 23 is 0.08mm to 0.12 mm. If the thickness of the third conductive silver paste layer 23 is too thick, the production cost may be increased. Particularly preferably, the thickness of the third conductive silver paste layer 23 is 0.1 mm.
The third composite-layer structure 4 is arranged above the second composite-layer structure 2, i.e. the third composite-layer structure 4 is arranged on the surface of the second composite-layer structure 2 remote from the robot housing. The third composite layer structure 4 comprises a fourth conductive silver paste layer 41 and a third support layer 42 arranged in this order in the direction of the third conductive silver paste layer 23. Wherein,
the fourth conductive silver paste layer 41 is disposed opposite to the third conductive silver paste layer 23 and is separated by the second insulating protrusion 5 disposed between the fourth conductive silver paste layer 41 and the third conductive silver paste layer 23. Preferably, the second insulating protrusion 5 is disposed to be offset from the first insulating protrusion 3, which is beneficial to improving the detection sensitivity. The thickness of the fourth conductive silver paste layer 41 may be sufficient to allow electrical conduction with the third conductive silver paste layer 23. Preferably, the thickness of the fourth conductive silver paste layer 41 is 0.08mm to 0.12 mm. If the thickness of the fourth conductive silver paste layer 41 is too thick, the production cost may be increased. Particularly preferably, the thickness of the fourth conductive silver paste layer 41 is 0.1 mm.
In this embodiment, one end of the second insulating protrusion 5 is fixedly connected to the fourth conductive silver paste layer 41, and the other end abuts against the third conductive silver paste layer 23. Of course, in other embodiments, one end of the second insulating protrusion 5 may also be fixedly connected to the third silver conductive adhesive layer 23, and the other end abuts against the fourth silver conductive adhesive layer 41; alternatively, both ends of the second insulating protrusion 5 are fixedly connected to the fourth conductive silver paste layer 41 and the third conductive silver paste layer 23, respectively. Preferably, the second insulating protrusion 5 is a semicircular protrusion, and one end of the salient point is disposed toward the third composite layer structure 4. In addition, preferably, the second insulating protrusion 5 may be formed in a hollow shape, so that the fourth conductive silver paste layer 41 and the third conductive silver paste layer 23 may be in contact with each other by a small external force, thereby improving the sensitivity of the e-skin.
Preferably, the height of the second insulating protrusion 5 is ≧ 10 μm. It is further preferable that the height of the second insulating protrusion 5 is 10 μm to 16 μm, so as to ensure a proper distance between the fourth conductive silver paste layer 41 and the third conductive silver paste layer 23. Preferably, the second insulating protrusion 5 can be adjusted according to actual needs, so that the situation that the height is too small is avoided, and the misjudgment rate of touch events is improved; and the situation that the height is too high, which causes the difficulty of detection contact between the fourth conductive silver glue layer 41 and the third conductive silver glue layer 23 to be increased, is avoided, so that the detection sensitivity is reduced. Preferably, the sensitivity can be improved by increasing the density of the second insulating protrusions 5 according to the size of the robot electronic skin, and in order to balance the sensitivity and the false alarm rate, the distance between adjacent second insulating protrusions 5 is preferably 4mm-15mm, and particularly 4mm, 7mm, 10mm, 12mm, 15 mm. In general, the greater the density of the second insulating protrusions 5, the lower the sensitivity; the smaller the density of the second insulating protrusions 5, the higher the sensitivity. It is further preferable that the second insulating protrusions 5 are uniformly distributed (i.e., the pitches of the adjacent second insulating protrusions 5 are the same), so that there is a stable response to a touch event.
In the embodiment of the present invention, the second insulating protrusion 5 is preferably made of insulating ink, which can efficiently prepare the second insulating protrusion 5 with high quality and high accuracy by printing. The third supporting layer 42 is configured to receive the touch signal, deform, and transmit the deformation to the fourth conductive silver paste layer 41; meanwhile, the third support layer 42 supports the fourth conductive silver paste layer 41 to maintain a complete layered structure. In particular, the material of the third support layer 42 should have a high sensitivity to touch and can transmit the touch response by generating deformation. Preferably, the third supporting layer 42 is one of a PET layer, a PC layer, a PVC layer and a PP layer, and the preferred supporting layer material is not only favorable for being pressed into a film, but also favorable for sensing touch and inducing touch reaction. More preferably, the third support layer 42 is a PET layer that is easily processed into a thin film structure, has a long service life, and has good toughness, thereby improving the sensing sensitivity. It is further preferred that the thickness of the third support layer 42 is 0.08mm to 0.12 mm. Particularly preferably, the thickness of the third support layer 42 is 0.1 mm.
In this embodiment, the double conductive silver adhesive layer-insulating protrusion-conductive silver adhesive layer structure is equivalent to two parallel membrane switches (the third conductive silver adhesive layer 23 and the second conductive silver adhesive layer 1 constitute one membrane switch, and the fourth conductive silver adhesive layer 41 and the third conductive silver adhesive layer 23 constitute another membrane switch), and the two silver adhesive layers of the membrane switch are equivalent to metal contacts of the switch and are respectively communicated with the positive electrode and the negative electrode of the power supply. When the third support layer 42 is touched, the deformation occurs, the fourth conductive silver paste layer 41 contacts with the third conductive silver paste layer 23, and the third conductive silver paste layer 23 contacts with the second conductive silver paste layer 13. The single chip microcomputer detects a low level, namely a touch event.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot electronic skin is characterized by comprising a first composite layer structure and a second composite layer structure which are sequentially arranged on a robot shell from inside to outside, wherein the first composite layer structure comprises a back adhesive layer, a first supporting layer and a first conductive silver adhesive layer which are sequentially arranged on the robot shell in a stacking mode, and the second composite layer structure comprises a second conductive silver adhesive layer and a second supporting layer which are sequentially arranged in a stacking mode towards the direction of the first composite layer structure;
and a plurality of first insulating protrusions used for separating the first conductive silver adhesive layer from the second conductive silver adhesive layer are arranged between the first conductive silver adhesive layer and the second conductive silver adhesive layer.
2. The robotic electronic skin of claim 1, wherein a second insulating protrusion is disposed on a surface of the second support layer facing away from the second conductive silver paste layer.
3. The robotic electronic skin of claim 1, wherein the second composite layer structure further comprises a third conductive silver glue layer disposed on the second support layer and disposed opposite the second conductive silver glue layer;
the robot electronic skin further comprises a third composite layer structure, the third composite layer structure is arranged on one side, away from the first composite layer structure, of the second composite layer structure, and the third composite layer structure comprises a fourth conductive silver glue layer and a third supporting layer which are sequentially stacked towards the third conductive silver glue layer;
and a plurality of second insulating protrusions used for separating the third conductive silver adhesive layer from the fourth conductive silver adhesive layer are arranged between the third conductive silver adhesive layer and the fourth conductive silver adhesive layer.
4. The robotic electronic skin of any of claims 1-3, wherein a height of the first insulating protrusion is ≧ 10 μm; and/or
The distance between the adjacent first insulation protrusions is 4mm-15 mm.
5. The robotic electronic skin of claim 4, wherein the first insulating protrusion has a height of 10 μ ι η to 16 μ ι η.
6. The robot electronic skin of claim 2 or 3, wherein the height of the second insulating protrusion is not less than 10 μm; and/or
The distance between the adjacent second insulating protrusions is 4mm-15 mm.
7. The robotic electronics skin of any one of claims 1-3, wherein the first support layer is one of a PET layer, a PC layer, a PVC layer, a PP layer; and/or
The second supporting layer is one of a PET layer, a PC layer, a PVC layer and a PP layer.
8. The robotic electronic skin of claim 3, wherein the third support layer is one of a PET layer, a PC layer, a PVC layer, a PP layer.
9. The robotic electronic skin of any of claims 1-3, wherein the first layer of conductive silver glue has a thickness of 0.08mm to 0.12 mm; and/or
The thickness of the second conductive silver glue layer is 0.08mm-0.12 mm; and/or
The thickness of the first supporting layer is 0.08mm-0.12 mm; and/or
The thickness of the second supporting layer is 0.08mm-0.12 mm.
10. The robotic electronic skin of any of claim 3, wherein the third layer of conductive silver paste has a thickness of 0.08mm to 0.12 mm; and/or
The thickness of the fourth conductive silver glue layer is 0.08mm-0.12 mm; and/or
The thickness of the third supporting layer is 0.08mm-0.12 mm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711166759.7A CN107866824A (en) | 2017-11-21 | 2017-11-21 | Robot electronic skin |
| US15/851,729 US10421199B2 (en) | 2017-11-21 | 2017-12-21 | Skin for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711166759.7A CN107866824A (en) | 2017-11-21 | 2017-11-21 | Robot electronic skin |
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| CN107866824A true CN107866824A (en) | 2018-04-03 |
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| CN201711166759.7A Pending CN107866824A (en) | 2017-11-21 | 2017-11-21 | Robot electronic skin |
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| US (1) | US10421199B2 (en) |
| CN (1) | CN107866824A (en) |
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| CN112372638A (en) * | 2020-10-28 | 2021-02-19 | 深圳市优必选科技股份有限公司 | Robot anti-collision method and device, storage medium and robot |
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| EP3320049A2 (en) * | 2015-07-10 | 2018-05-16 | Wällischmiller Engineering GmbH | Robot device comprising a driven unit, and application method |
| JP7275752B2 (en) * | 2019-03-28 | 2023-05-18 | セイコーエプソン株式会社 | robot |
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| Publication number | Publication date |
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| US20190152074A1 (en) | 2019-05-23 |
| US10421199B2 (en) | 2019-09-24 |
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